Siemens SIROTEC Function Manual

Function modules
8.7 Position control
Drive functions
500 Function Manual, 11/2017, 6SL3097-4AB00-0BP5
8.7.2.6
Function diagrams and parameters
Function diagrams (see SINAMICS S120/S150 List Manual)
•
4010
Position control
- Actual position value processing (r0108.3 = 1)
•
4704
Encoder evaluation
- Position and temperature sensing, encoders 1 ... 3
•
4710
Encoder evaluation
- Actual speed value and pole position sensing encoder
1
Overview of important parameters (see SINAMICS S120/S150 List Manual)
•
p2502[0...n]
LR encoder assignment
•
p2503[0...n]
LR length unit LU per 10 mm
•
p2504[0...n]
LR motor/load motor revolutions
•
p2505[0...n]
LR motor/load load revolutions
•
p2506[0...n]
LR length unit L
U per load revolution
•
r2520[0...2]
CO: LR actual position value processing encoder control word
•
r2521[0...3]
CO: LR actual position value
•
r2522[0...3]
CO: LR actual velocity value
•
r2523[0...3]
CO: LR measured value
•
r2524
CO: LR LU/revolutions
•
p2525[0...n]
CO: LR encoder adjustment offset
•
r2526.0...9
CO/BO: LR status word
•
p2720[0...n]
Load gear configuration
•
p2721[0...n]
Load gear, absolute encoder, rotary revolutions, virtual
•
p2722[0...n]
Load gear, position tracking, tolerance window
•
r2723[0...n]
CO: Load gear absolute value
•
r2724[0...n]
CO: Load gear position difference
•
p2730[0...3]
BI: LR actual position value processing correction negative act.
(edge)
8.7.3
Position controller
The position controller is a PI controller. The P gain can be adapted using the product of
connector input p2537 (position controller adaptation) and parameter p2538 (Kp).
Using connector input p2541 (limit), the speed setpoint of the position controller can be
limited without precontrol. This connector input is pre-interconnected with connector output
p2540.

Siemens SIROTEC Specifications

General

Brand	Siemens
Model	SIROTEC
Category	DC Drives
Language	English